mentor.com/automotive Android is a trademark of Google Inc. Use of this trademark is subject to Google Permissions. Linux is the registered trademark of Linus Torvalds in the U.S. and other countries. Qt is a registered trade mark of Digia Plc and/or its subsidiaries. All other trademarks mentioned in this document are trademarks of their respective owners. LVEE 2014 Vladimir Zapolskiy [email protected]Bootloader and Linux kernel debugging on ARM board with OpenOCD
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Android is a trademark of Google Inc. Use of this trademark is subject to Google Permissions.Linux is the registered trademark of Linus Torvalds in the U.S. and other countries.
Qt is a registered trade mark of Digia Plc and/or its subsidiaries. All other trademarks mentioned in this document are trademarks of their respective owners.
Bootloader and Linux kernel debugging onARM board with OpenOCD
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ARM + Linux
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Development Tasks
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Development Tasks
● port bootloader and Linux kernel to a new ARM SoC
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Development Tasks
● port bootloader and Linux kernel to a new ARM SoC● port bootloader and Linux kernel to a new ARM powered board
www.mentor.com/embedded
Development Tasks
● port bootloader and Linux kernel to a new ARM SoC● port bootloader and Linux kernel to a new ARM powered board● add new features of arbitrary nature into bootloader or kernel
www.mentor.com/embedded
Development Tasks
● port bootloader and Linux kernel to a new ARM SoC● port bootloader and Linux kernel to a new ARM powered board● add new features of arbitrary nature into bootloader or kernel● fix a bug in bootloader or kernel
www.mentor.com/embedded
Development Tasks
● port bootloader and Linux kernel to a new ARM SoC● port bootloader and Linux kernel to a new ARM powered board● add new features of arbitrary nature into bootloader or kernel● fix a bug in bootloader or kernel● get understanding how bootloader or kernel works in runtime
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Debugging Tools and Methods
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Debugging Tools and Methods
● add change, update firmware, test and repeat
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Debugging Tools and Methods
● add change, update firmware, test and repeat ● full or partial hardware virtualization
www.mentor.com/embedded
Debugging Tools and Methods
● add change, update firmware, test and repeat ● full or partial hardware virtualization● use special software debugging frameworks
● blinking leds● KGDB over serial line● etc.
www.mentor.com/embedded
Debugging Tools and Methods
● add change, update firmware, test and repeat ● full or partial hardware virtualization● use special software debugging frameworks
● blinking leds● KGDB over serial line● etc.
● software or hardware dumps for connectivity and protocol debugging
www.mentor.com/embedded
Debugging Tools and Methods
● add change, update firmware, test and repeat ● full or partial hardware virtualization● use special software debugging frameworks
● blinking leds● KGDB over serial line● etc.
● software or hardware dumps for connectivity and protocol debugging● boundary scan testing of integrated circuits / IEEE 1149
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JTAG / IEEE 1149.x
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JTAG / IEEE 1149.x
Too complicated for software developer!
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JTAG connector 20 pin
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JTAG connector 14 pin
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JTAG connector 10 pin
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No JTAG connector!
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No JTAG connector, alternatives?
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No JTAG connector, alternatives?
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JTAG circuits
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Lauterbach Trace32
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Abatron BDI2000/BDI3000
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Parallel Port Interface
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USB JTAG Dongle
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My Favourite USB JTAG Dongle :)
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Comparison
Price Usability Speed
ParPort
SoftICE
Lauterbach
BDI3000
USB Dongle
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OpenOCD
Host side software, which provides debugging, insystem
programming and boundaryscan testing for embedded devices.
Started as a master diploma, distributed under GPLv2 licence.
Supported interfaces:● parallel port● FTDI FT2232● GPIO over sysfs● many other less popular interfaces
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Supported cores by OpenOCD
● ARM7 (ARM7TDMI, ARM720t)● ARM9 (ARM9TDMI, ARM920t, ARM922t, ARM926ejs, ARM966)● ARM11 (ARM1136, ARM1156, ARM1176)● Intel Xscale (PXA25x, PXA26x, PXA27x, IXP42x, IXP45x, IXP46x)● ARM CortexA8● ARM CortexA9● ARM CortexM3● MIPS m4k
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OpenOCD configuration
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OpenOCD runtime
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OpenOCD GDB session
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Problems
● only ARM SoCs are supported well, what about other RISCs?● not all target ARM SoCs supported● board support requires additional extensions to a target script● ARM JTAG protocol implementation is not 100% sustainable● … no more obvious problems from user's point of view
